Animal sensory stimulation with fur impedance detection

ABSTRACT

A collar-mounted location sensor and stimulation unit includes a body. A generally planar stimulation unit and impedance-based fur detector in combination protect the animal from harmful stimulation. At least one sensory stimulator is configured to provide at least one of auditory, kinesthetic, and visual stimulation responsive to an output of a location sensor. One or more of a voltage, current, oscillation frequency, extent of modulation, or other output characteristic of the stimulation unit output is varied responsive to the detected fur impedance to protect and benefit both the body and mind of the animal.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a Continuation-In-Part of U.S. patent applicationSer. No. 16/237,375 filed Dec. 31, 2018 scheduled to be granted as U.S.Pat. No. 10,624,319 on Apr. 21, 2020 and co-pending herewith, which is aContinuation-In-Part of U.S. patent application Ser. No. 14/662,232filed Mar. 18, 2015 and granted as U.S. Pat. No. 10,165,756 on Jan. 1,2019 and herewith, which in turn claims the benefit under 35 U.S.C.119(e) of U.S. provisional 61/954,598, filed Mar. 18, 2014 and herewith,the teachings and entire contents of each which are incorporated hereinby reference in entirety.

BACKGROUND OF THE INVENTION 1. Field of the Invention

This invention pertains generally to electrical communications, and moreparticularly to condition responsive indicating systems with a radiolink and including personal portable device for tracking location. Thecondition responsive indicating systems of the present invention monitorthe specific condition of humans or animals. In one preferredmanifestation, a fully self-contained collar designed in accord with theteachings of the present invention monitors the location of a pet suchas a dog, and provides well defined and positive stimulus to train thepet to stay within a predetermined area.

2. Description of the Related Art

Dogs are well known as “man's best friend” owing to the many beneficialservices that they provide. However, and likely since mankind firstbefriended dogs, there has existed a need to control the territory thata dog has access to. There are many reasons that motivate this need,many which may be relatively unique to a particular dog or owner, andother reasons that are far more universal.

Irrespective of the reason, there have been limited ways to communicateto a dog a territory that the dog should stay within, and to elicit thisbehavior from a dog. One method is a fixed containment structure such asa fence or building. A structure of this nature provides a physicalboundary or barrier which blocks passage of an animal such as a pet orfarm animal. As may be apparent, such structures are typically expensiveand time consuming to install, and necessarily static in location. Inother words, they are only useful at the location where they areconstructed, and so are of no value when a pet and owner travel.Furthermore, these static structures often interfere in other ways withother activities of the dog owner, such as with lawn care or interferingwith the owner's movement about a property. In addition, a dog may findways to bypass the structure, such as by digging under a fence orslipping through a not-quite completely secured gate.

A second approach to controlling accessible territory is through acombination collar and leash or similar restraint. The leash is anchoredto a fixed point, or in the best of situations, to a line or cable alongwhich the dog can travel. Unfortunately, most dogs are notoriously badat untangling or unwrapping a leash from a fixed object. Consequently,dogs tend to tangle the leash about trees, posts, and other objects, andcan become completely unable to move. If the owner is not aware that thedog has become tangled, this can lead to dangerous situations in casessuch as extreme weather or when the dog has been left unattended for anextended period.

Additionally, some dogs are very good at escaping the leash, such as bybacking away from the leash and using the leash force to slip off thecollar, or by chewing through the leash. Once again, if the owner isunaware, the dog may travel from the desired area into other unsuitableareas such as roadways and the like. This may put both dog and humans injeopardy, such as when a vehicle swerves to avoid the dog or when a doghas a temperament not suited to the general human population.

The leash also necessarily defines the region in which the dog maytravel. For exemplary purposes, with a ground stake and a leash the dogis constrained to a circle. In this example, the owner will typicallydefine the circle to the smallest radius that the dog may desirablytravel within. As can be understood, for all but circularly shapedareas, this leads to a great deal of space that the dog cannot access,but which would otherwise be suitable for the dog.

In consideration of the limitations of static structures and leashes,various artisans have proposed other systems that provide moreflexibility and capability, such as buried or above ground transmitterantennas and radio collars that either detect the crossing of a buriedline or detect the reception or absence of reception of a signalbroadcast by the transmitter antenna. When an undesirable location isdetected, the radio collar is then triggered, typically to provide apainful electrical stimulation to the dog. Desirably, the electricalstimulation is mild enough not to harm the dog, but yet still strongenough to cause the dog to want to avoid additional similar stimulation.These systems remove the physical link between a dog and a staticstructure, meaning the dog will not get tangled in obstacles when movingabout. Further, in the case of a buried line, the line may follow anygeometry of land, and so is not limited to a circular pattern limited bya particular radius.

Unfortunately, burying a line can be difficult or impossible if thereare other objects, such as irrigation systems, buried utility lines,landscaping, hard surfaces, trees, or other fixed objects. Additionally,current soil conditions such as frozen soil or snow-covered ground inthe winter may also limit the ability to bury the line. Furthermore, theeffort required to bury the line limits these systems to a singlelocation, meaning the system cannot readily be moved or transposed fromthe home to a popular park or the like.

Radio systems that rely upon the detection of a signal to generate ashock, such as the buried line, are also well known to be significantlyaffected by static and other forms of Electro-Magnetic Interference orRadio-Frequency Interference (EMI-RFI). Consequently, a dog may beshocked or otherwise punished without basis or appropriate reason. Thisproblem is also very location dependent, meaning that there are placeswhere there is so much EMI-RFI that a radio system is completelyunusable. As a result of the inability to completely eliminate orsubstantially eradicate the effects of EMI-RFI, the use of these radiosystems is far from universal.

When the shock is instead triggered by the absence of a radio signal,such as when a beacon is used to contain a pet, obstacles such asbuildings may prevent reception, undesirably limiting the range oftravel of the animal. Furthermore, blocking the signal from the collar,such as when a dog lays down, is being caressed by the owner, or isoriented in the wrong direction, may also lead to radio signalattenuation and undesirable triggering of the shock.

As is known in the field of psychology, this random punishment that iscommonplace in both types of radio systems can literally destroy thetraining of a dog, and may lead to erratic or wanton misbehavior.Instead, many dog owners continue to rely upon static structures orleashes to control the territory accessible by their dog.

Another problem arises when a dog unintentionally crosses a buried line.Since it is the crossing of the line that leads to the stimulation, evenwhen the dog realizes and tries to return, the same stimulationoriginally keeping the dog in a containment area is now being used tokeep the dog out of that containment area. Consequently, the dog will beextremely confused, and will commonly not return, even where the dogwould have otherwise. As but one exemplary purpose, when a rabbit,squirrel, or other animate creature is being chased by the dog, the dogwill typically be so intent on the pursuit as to completely lose trackof the location of the buried line. The dog's speed may be so great thateven the stimulation is very short as the dog crosses the buried line,in the heat of the chase. Furthermore, the dog's attention and focus arethoroughly directed at the pursuit of the animate creature, and even themost powerful stimulus may go unnoticed. However, once the chase isover, the dog's adrenaline or drive has diminished. A reasonablywell-behaved dog will then most likely be moving more slowly back toward“home” within the containment area. Unfortunately then, the stimulationtrying to re-enter will most frequently be of much longer duration, andmuch more recognized by the now not-distracted dog, than when the dogleft the containment area. As can be appreciated, this is backwards ofthe intent of a training system.

With the advent and substantial advancement of Global PositioningSystems (GPS), presently primarily used for navigation, artisans haverecognized the opportunity to incorporate GPS technology into petcontainment. Several systems have been proposed in the literature forseveral decades, but these systems have not as yet become commerciallyviable.

One significant limitation of prior art GPS systems is the accuracy ofthe system. Accuracy can be dependent upon variables such as atmosphericvariations, signal reflections and signal loss due to obstacles, andvariability intentionally introduced into the system. Similarvariability is found in various radio and cellular locating systems.

A GPS or similar navigation system that is accurate to plus or minus tenmeters is very adequate for navigational purposes, for example to guidea person to a commercial building for a meeting or for other commerce.However, for pet containment this level of accuracy is completelyunacceptable. For exemplary purposes, many residential yards are fortyfeet wide, or approximately 10 meters. A system that is only accurate toplus or minus ten meters might try to locate the dog in eitherneighbor's yard on any given day or at any given moment, depending uponunpredictable and uncontrollable variables such as atmosphericconditions. As will be readily appreciated, this unpredictable locatingwill lead to punishment of the animal when, in fact, the animal iswithin the proper location. In turn, this will lead to a completefailure of training, and erratic and unpredictable behavior of theanimal.

Another limitation is the amount of calculation required to determinewhether the pet is within a selected area of containment. Most prior artGPS systems use nodes to define the perimeter, and then mathematicallycalculate where the pet is relative to the nodes. Unfortunately, thisrequires a substantial amount of computation, which increases greatly asthe number of nodes are increased. As a result, these systems commonlyrely upon a primary processing system that is remote from the dog, towhich the dog's collar is coupled via radio waves or the like. Thispermits the primary processing system to perform calculations and thenrelay results or control signals back to the collar. Undesirably, thisalso adds complexity, drains precious battery power limiting the usablecollar time, and again makes the containment system dependent uponconventional radio communications systems. In addition, the need forboth the collar and a secondary base station makes the system far lessportable. This means, for example, that taking the dog away from home toa park may be impractical.

A further limitation of the prior art is battery life. A collar thatmust be removed and recharged every few hours is unacceptable for mostpurposes. Unfortunately, the intensive computations required by priorart systems require either a fast and consequently higher powerprocessor unit, or a communications link such as a radio link to a basestation. While the collar unit may transmit data back to the base unitto avoid the need for complex computational ability, even thetransmission of position information and reception of collar actionsrequires a reasonably powered radio. It will be apparent thatwalkie-talkies, cell phones and other hand-held radio devices all havevery large batteries to provide adequate transmission and receptionlife, and yet these devices often only support several hours ofcommunications. As can be appreciated, size and weight are severelyrestricted for a device fully self-contained on a dog's collar, and theinclusion of a large battery is undesirable.

Yet another limitation of the prior art is the unintentional blocking orloss of GPS signals. There are a number of conditions that can lead toloss of GPS signals. One is unfavorable weather, which can lead to aseverely attenuated satellite signal, and much higher Signal to NoiseRatios (SNR). Another condition is an adjacent building, canyon wall, orother obstacle that blocks satellite signals. Such a signal might, forexemplary purposes, either block all signals such as commonly occurswithin a building, or instead may only block signals from one direction.However, GPS systems require multiple satellites to obtain a positionfix, and even if only one of the satellites is blocked, then the abilityto accurately fix position may be lost. Another situation that can leadto signal loss is when the collar itself is covered. This can, forexemplary and non-limiting purposes, occur when a dog lays down. If thedog lays in an unfortunate position partially or completely covering thecollar, then satellite signals will be either blocked or too severelyattenuated.

In any of these situations where the GPS signal is partially orcompletely blocked or attenuated, the latitudinal and longitudinalpositional accuracy will either be inadequate, or may be completelylost. In such instances, a prior art collar may become completelynon-functional. Worse, this loss of function can occur without notice inan erratic manner, possibly causing severe harm to the training of thedog.

In addition to the aforementioned limitations, prior art electronicfences have also attempted to train the animal using punishment, such asa shock, to elicit the desired behavior. As is very well known andestablished, negative reinforcement is less effective than positivereinforcement or a combination of positive and negative reinforcement.Furthermore, the type of reinforcement can also affect the temperamentof the animal Consequently, it is desirable to not only provideconsistent behavioral reinforcement, but also to provide thatreinforcement in a positive manner.

Another significant limitation of prior art systems is the size andcomplexity of the various pet containment systems. As a result, theprior art pet-worn containment units often require their own mounting orcoupling to the pet, which may prevent a pet owner from using aparticularly preferred or well-fitting collar. In other instances, themounting itself is sufficiently complex to discourage pet owners fromcoupling the collar unit to the collar.

In addition, the stimulation is typically provided through a highvoltage pulse applied across two prongs that are pressed into the neckof the pet. Since many animals have a relatively thick base coat, inmany cases this also requires a tight collar to reliably couple theprongs into the dog. Unfortunately, if the collar is left on forextended periods, as it would desirably be for most pets, this force,any electrical stimulation, and ordinary movement of the pet will allcombine to lead to gradual tissue necrosis. This can and has led to deepsores or pockets of disease within the pet's neck, which is highlyinhumane and can seriously adversely affect the health and well-being ofthe pet.

The following patents and published patent applications are believed tobe exemplary of the most relevant prior art, and the teachings andcontents of each are incorporated herein by reference: U.S. Pat. No.4,393,448 by Dunn et al, entitled “Navigational plotting system”; U.S.Pat. No. 4,590,569 by Rogoff et al, entitled “Navigation systemincluding an integrated electronic chart display”; U.S. Pat. No.4,611,209 by Lemelson et al, entitled “Navigation warning system andmethod”; U.S. Pat. No. 4,817,000 by Eberhardt, entitled “Automaticguided vehicle system”; U.S. Pat. No. 4,999,782 by BeVan, entitled“Fixed curved path waypoint transition for aircraft”; U.S. Pat. No.5,067,441 by Weinstein, entitled “Electronic assembly for restrictinganimals to defined areas”; U.S. Pat. No. 5,191,341 by Gouard et al,entitled “System for sea navigation or traffic control/assistance”; U.S.Pat. No. 5,351,653 by Marischen et al, entitled “Animal training methodusing positive and negative audio stimuli”; U.S. Pat. No. 5,353,744 byCuster, entitled “Animal control apparatus”; U.S. Pat. No. 5,355,511 byHatano et al, entitled “Position monitoring for communicable anduncommunicable mobile stations”; U.S. Pat. No. 5,381,129 by Boardman,entitled “Wireless pet containment system”; U.S. Pat. No. 5,389,934 byKass, entitled “Portable locating system”; U.S. Pat. No. 5,408,956 byQuigley, entitled “Method and apparatus for controlling animals withelectronic fencing”; U.S. Pat. No. 5,450,329 by Tanner, entitled“Vehicle location method and system”; U.S. Pat. No. 5,568,119 bySchipper et al, entitled “Arrestee monitoring with variable siteboundaries”; U.S. Pat. No. 5,587,904 by Ben-Yair et al, entitled “Aircombat monitoring system and methods and apparatus useful therefor”;U.S. Pat. No. 5,594,425 by Ladner et al, entitled “Locator device”; U.S.Pat. No. 5,751,612 by Donovan et al, entitled “System and method foraccurate and efficient geodetic database retrieval”; U.S. Pat. No.5,791,294 by Manning, entitled “Position and physiological datamonitoring and control system for animal herding”; U.S. Pat. No.5,857,433 by Files, entitled “Animal training and tracking device havingglobal positioning satellite unit”; U.S. Pat. No. 5,868,100 by Marsh,entitled “Fenceless animal control system using GPS locationinformation”; U.S. Pat. No. 5,911,199 by Farkas et al, entitled“Pressure sensitive animal training device”; U.S. Pat. No. 5,949,350 byGirard et al, entitled “Location method and apparatus”; U.S. Pat. No.6,043,748 by Touchton et al, entitled “Satellite relay collar andprogrammable electronic boundary system for the containment of animals”;U.S. Pat. No. 6,114,957 by Westrick et al, entitled “Pet locatorsystem”; U.S. Pat. No. 6,172,640 by Durst et al, entitled “Pet locator”;U.S. Pat. No. 6,232,880 by Anderson et al, entitled “Animal controlsystem using global positioning and instrumental animal conditioning”;U.S. Pat. No. 6,232,916 by Grillo et al, entitled “GPS restraint systemand method for confining a subject within a defined area”; U.S. Pat. No.6,236,358 by Durst et al, entitled “Mobile object locator”; U.S. Pat.No. 6,263,836 by Hollis, entitled “Dog behavior monitoring and trainingapparatus”; U.S. Pat. No. 6,271,757 by Touchton et al, entitled“Satellite animal containment system with programmable Boundaries”; U.S.Pat. No. 6,313,791 by Klanke, entitled “Automotive GPS control system”;U.S. Pat. No. 6,421,001 by Durst et al, entitled “Object locator”; U.S.Pat. No. 6,441,778 by Durst et al, entitled “Pet locator”; U.S. Pat. No.6,480,147 by Durst et al, entitled “Portable position determiningdevice”; U.S. Pat. No. 6,487,992 by Hollis, entitled “Dog behaviormonitoring and training apparatus”; U.S. Pat. No. 6,518,919 by Durst etal, entitled “Mobile object locator”; U.S. Pat. No. 6,561,137 by Oakman,entitled “Portable electronic multi-sensory animal containment andtracking device”; U.S. Pat. No. 6,581,546 by Dalland et al, entitled“Animal containment system having a dynamically changing perimeter”;U.S. Pat. No. 6,700,492 by Touchton et al, entitled “Satellite animalcontainment system with programmable boundaries”; U.S. Pat. No.6,748,902 by Boesch et al, entitled “System and method for training ofanimals”; U.S. Pat. No. 6,903,682 by Maddox, entitled “DGPS animalcontainment system”; U.S. Pat. No. 6,923,146 by Kobitz et al, entitled“Method and apparatus for training and for constraining a subject to aspecific area”; U.S. Pat. No. 7,034,695 by Troxler, entitled “Large areaposition/proximity correction device with alarms using (D)GPStechnology”; U.S. Pat. No. 7,259,718 by Patterson et al, entitled“Apparatus and method for keeping pets in a defined boundary havingexclusion areas”; U.S. Pat. No. 7,328,671 by Kates, entitled “System andmethod for computer-controlled animal toy”; U.S. Pat. No. 7,677,204 byJames, entitled “Dog training device”; U.S. Pat. No. 8,155,871 by Lohiet al, entitled “Method, device, device arrangement and computer programfor tracking a moving object”; U.S. Pat. No. 8,115,942 by Thompson etal, entitled “Traveling invisible electronic containmentperimeter—method and apparatus”; U.S. Pat. No. 8,624,723 by Troxler,entitled “Position and proximity detection systems and methods”; U.S.Pat. No. 8,757,098 by So et al, entitled “Remote animal training systemusing voltage-to-frequency conversion”; U.S. Pat. No. 8,797,141 by Bestet al, entitled “Reverse RFID location system”; U.S. Pat. No. 8,839,744by Bianchi et al, entitled “Mobile telephone dog training tool andmethod”; U.S. Pat. No. 8,851,019 by Jesurum, entitled “Pet restraintsystem”; 2007/0204804 by Swanson et al, entitled “GPS pet containmentsystem and method”; 2008/0252527 by Garcia, entitled “Method andapparatus for acquiring local position and overlaying information”;2011/0193706 by Dickerson, entitled “Sensor collar system”; 2012/0000431by Khoshkish, entitled “Electronic pet containment system”; 2013/0127658by McFarland et al, entitled “Method and apparatus to determineactionable position and speed in GNSS applications”; and EP 0699330 andWO 94/27268 by Taylor, entitled “GPS Explorer”.

Several United States granted patents and US and international patentapplications commonly owned with the present invention illustrate awireless location assisted zone guidance system and various apparatusthat provide a number of features and benefits not available in theprior art, including a collar-mounted apparatus that allows users tocreate unique containment areas in complex shapes with progressive alertzones, and affix the collar to an animal to be trained, monitored, andcontained. The collar may operate entirely independent of otherterrestrial apparatus for periods greatly extended when compared to theprior art. Exemplary patents, the teachings and contents which areincorporated herein in entirety, include U.S. Pat. Nos. 7,677,204;9,795,118; 9,961,884; 10,064,390; 10,080,346; 10,165,755; 10,165,756;10,172,325; 10,251,371; 10,292,365; 10,342,218; 10,405,520; 10,455,810;10,470,437 and 10,624,319.

In addition to the foregoing, Webster's New Universal UnabridgedDictionary, Second Edition copyright 1983, is incorporated herein byreference in entirety for the definitions of words and terms usedherein.

SUMMARY OF THE INVENTION

In a first manifestation, the invention is a collar-mounted locationsensor and stimulation unit incorporating a rapid collar mount andnon-necrotic stimulation. The unit has a body having a first major innersurface. A plurality of stimulation electrodes are located within anexposed electrode sheet substantially parallel with and adjacent to thebody first major inner surface. A location sensor and associatedelectronics are contained within the body. The associated electronicsfurther comprises an electrical stimulation generator and an impedancedetector. The impedance detector is coupled to the plurality ofstimulation electrodes and is configured to detect an impedance of furadjacent to the plurality of stimulation electrodes when the body firstmajor inner surface is properly secured to a dog. The electricalstimulation generator is enabled responsive to fur capacitance detectionand disabled responsive to an absence of fur capacitance detection.

In a second manifestation, the invention is a collar-mounted guidanceunit incorporating non-necrotic stimulation. The unit has a body havinga first major inner surface. A plurality of stimulation electrodes arelocated within an exposed electrode sheet substantially parallel withand adjacent to the body first major inner surface. A location sensorand associated electronics are contained within the body. At least onesensory stimulator is configured to provide at least one of auditory,kinesthetic, and visual stimulation to an animal responsive to an outputof the location sensor. An electrode cover is configured in a firstdisabling position to electrically isolate the plurality of stimulationelectrodes from the animal when the body first major inner surface isproperly secured to the animal, and configured in a second enablingposition to permit electrical engagement between the plurality ofstimulation electrodes and a fur of the animal.

OBJECTS OF THE INVENTION

The present invention and the preferred and alternative embodiments havebeen developed with a number of objectives in mind. While not all ofthese objectives are found in or required of every embodiment, theseobjectives nevertheless provide a sense of the general intent and themany possible benefits that are available from ones of the variousembodiments of the present invention.

A first object of the invention is to provide a safe and humaneapparatus for modifying the behavior of a pet. From the descriptionsprovided herein and the teachings incorporated by reference hereinabove, it will be apparent that the present invention may also beapplied in certain instances to humans, livestock or other animals. Asecond object of the invention is to provide a fully self-containedapparatus that will determine location and provide stimuli based uponthat location for extended periods of operation. As a corollary, thefully self-contained apparatus is preferably operational withuniversally available location systems, including but not limited tosatellite GPS, cellular telephone triangulation systems, and radiotriangulation system such as Loran, but may alternatively be providedwith a custom location system if so desired. By using universallyavailable location systems, there is no limit on the locations where theapparatus may be used. Another object of the present invention is toenable simple and efficient set-up and operation by a person. A furtherobject of the invention is to efficiently and expeditiously train a pet,to significantly reduce training time and increase the effectiveness ofthe training. As a corollary, embodiments of the present invention willpreferably provide the effective animal training while preserving thespirit and positive attitude of the animal Yet another object of thepresent invention is to enable a person to set an acceptable area or“safe zone” using only the self-contained apparatus, and to adjust orredefine the area again by simple manipulation of the self-containedapparatus. An additional object of the invention is to enable theself-contained apparatus to automatically generate a number of zonesthat facilitate positive training and behavior modification, and therebyguide a pet or other living being appropriately. A further object of thepresent invention is to provide electrical stimulation through a muchmore humane delivery path than prior art two-terminal shock collars. Yetanother object of the present invention is to detect when the electrodesare placed on a pet through a reduced energy detection of fur impedance.As a corollary thereto, embodiments of the present invention will notapply electrical stimulation to an animal when the impedance is out ofappropriate range, such as for exemplary and non-limiting purpose whenthe animal is wet from playing in the ocean. An even further object ofthe present invention is to provide a substantially planar electrodesurface having alternating polarity electrodes to better facilitate furdetection and electrical stimulation. An additional object of theinvention is to provide a user-removable cover that electricallyisolates the electrodes from the animal.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing and other objects, advantages, and novel features of thepresent invention can be understood and appreciated by reference to thefollowing detailed description of the invention, taken in conjunctionwith the accompanying drawings, in which:

FIG. 1 illustrates a first preferred embodiment collar-mounted locationsensor and stimulation unit from a bottom plan view designed in accordwith the teachings of the present invention.

FIG. 2 illustrates the first preferred embodiment collar-mountedlocation sensor and stimulation unit of FIG. 1 from a top plan view.

FIG. 3 illustrates the first preferred embodiment collar-mountedlocation sensor and stimulation unit of FIG. 1 from a side plan view.

FIG. 4 illustrates the first preferred embodiment collar-mountedlocation sensor and stimulation unit of FIG. 1 from a side and slightlyprojected view during the collar installation process.

FIG. 5 illustrates the first preferred embodiment collar mount frombottom plan view of FIG. 1 and additionally affixed to a dog collar.

FIG. 6 illustrates a second preferred embodiment collar-mounted locationsensor and stimulation unit from a bottom plan view designed in accordwith the teachings of the present invention.

FIG. 7 illustrates the second preferred embodiment collar-mountedlocation sensor and stimulation unit of FIG. 6 from a top plan view.

FIG. 8 illustrates the second preferred embodiment collar-mountedlocation sensor and stimulation unit of FIG. 6 from a side plan view.

FIG. 9 illustrates a second preferred embodiment collar-mounted locationsensor and stimulation unit of FIG. 6 from a bottom plan view, infurther combination with an electrode cover.

FIG. 10 illustrates the second preferred embodiment collar-mountedlocation sensor and stimulation unit of FIG. 9 from a top plan view.

FIG. 11 illustrates the second preferred embodiment collar-mountedlocation sensor and stimulation unit of FIG. 9 from a side plan view.

FIG. 12 illustrates an impedance detection apparatus in combination witha stimulation generator by simplified schematic diagram.

DESCRIPTION OF THE PREFERRED EMBODIMENT

In a preferred embodiment of the invention, a pet owner might want toestablish a containment area on an example property. Using the teachingsof commonly owned U.S. Pat. Nos. 7,677,204; 9,795,118; 9,961,884;10,064,390; 10,080,346; 10,165,755; 10,165,756; 10,172,325; 10,251,371;10,292,365; 10,342,218; 10,405,520; 10,455,810; 10,470,437 and10,624,319; the teachings which were incorporated herein above byreference, the collar may be designed to contain an entire andindependent pet containment system. In other words, no additionalcomponents would need to be purchased or acquired, nor is there a needfor any other external device other than the GPS satellites or othersuitable location beacons. The collar will interact directly with GPSsignals received from GPS satellites or other suitable location beaconsas selected by a designer, and may determine latitude and longitude.

In accord with the teachings of these aforementioned and other commonlyowned inventions, a comforting stimulus may be provided at particularintervals to assure or reassure the dog. Furthermore, such stimulus maybe timed in accord with activity of the dog, such as when the dog ismoving about and remaining within the safe zone. In such case, acomforting tone or recorded sound such as the owner's voice saying “gooddog” may be periodically generated. In one embodiment contemplatedherein, the velocity of the dog, including direction and speed, willalso be calculated. In the event there is a danger of the dog movingoutside of the safe zone, the comforting stimulus may be withheld, untilthe dog is confirmed to be remaining in the safe zone.

Additional zones may be identified. For exemplary purposes, these mightinclude a “first alert” zone used to generate a vibration which ispreferably very distinct from the comforting tone or “good dog”recording of the safe zone. This will preferably gently alert the dog ofthe transition out of the safe zone and to the need to return to thesafe zone.

A “second alert” zone may be used to trigger an electrical stimulation.In the second alert zone, this stimulation may be relatively mild ormedium stimulation.

Finally, at a point outside of the desired containment zone the dog maybe stimulated with a stronger electrical stimulation. However, thisstimulation will most preferably not continue indefinitely, which wouldotherwise be recognized to be quite inhumane.

In a first preferred embodiment collar-mounted location sensor andstimulation unit 1, the body 10 is preferably generally rectangular,such as illustrated in FIG. 1. On each of the two short ends 16 and 17,two protrusions 12, 13 and 14, 15 respectively, called quick-mountretention clips, preferably extend from the superior and inferiorlateral edges, bend in a 90 degree angle toward the center, and extendfor a short distance before terminating, as illustrated in FIGS. 1-3.The first preferred embodiment collar-mounted location sensor andstimulation unit 1 is preferably slightly wider than a standard nylondog collar, typically ¾″ or 1″ wide, as can be seen in FIG. 5. While notessential, the preferred embodiment collar-mounted location sensor andstimulation unit 1 is preferably not as thick as it is wide. It ispreferably rounded on the long sides, and both rounded and tapered onthe short sides, to avoid sharp edges that might over time abrade orharm a pet.

In the preferred embodiment collar-mounted location sensor andstimulation unit 1, the quick-mount retention clips 12-15 are fabricatedfrom the same material as body 10 of the collar-mounted location sensorand stimulation unit 1. However, and where so desired, the quick-mountretention clips 12-15 may alternatively be fabricated from othersuitable materials. For exemplary purposes, and not solely limitingthereto, the body and quick-mount retention clips 12-15 may befabricated from a relatively stiff and rigid material that may rangefrom a hard plastic to a relatively harder and stiffer elastomer orrubber-like material.

In an alternative embodiment, the body and quick-mount retention clips12-15 may be fabricated from different materials. For exemplary purposesonly, and not solely limiting thereto, the body 10 might be fabricatedfrom a relatively stiff and rigid material, while the quick-mountretention clips 12-15 might be fabricated from a stiff but still pliablematerial such as an elastomer or rubber-like material. In a furtheralternative embodiment, the quick-mount retention clips 12-15 may befabricated from a stiff inner core, and be provided with a more pliantand potentially more completely closed outer material.

As can be seen in FIG. 5, when the preferred embodiment collar-mountedlocation sensor and stimulation unit 1 is affixed to a dog collar 40,the collar 40 is held in place by the quick-mount retention clips 12-15.Collar 40, if made of a flexible material such as nylon, leather andmost other common collar materials, can operatively be pinched to fit inbetween the quick-mount clips 12-15 as illustrated in FIG. 4, thenreleased to expand into normal shape within the space between theretention clips 12-15 and the ends 16, 17 of the collar-mounted locationsensor and stimulation unit 1 to the position illustrated in FIG. 5. Theuse of more pliable materials for the quick-mount retention clips 12-15will facilitate insertion, but will also increase the likelihood ofseparation of the collar-mounted location sensor and stimulation unit 1from the collar 40. Consequently, in the preferred embodiment, thequick-mount retention clips 12-15 are fabricated from a rigid and stiffmaterial.

The location sensor 20 and associated electronics are preferablyencapsulated within or inset into the body of the collar-mountedlocation sensor and stimulation unit to protect them from potentialdamage. For exemplary and non-limiting purpose, suitable circuitry mayincorporate components such as illustrated in US published patentapplication 2007/0204804 by Swanson et al incorporated by reference,suitably modified and configured to function for exemplary andnon-limiting purpose as set forth in commonly owned U.S. Pat. Nos.7,677,204; 9,795,118; 9,961,884; 10,064,390; 10,080,346; 10,165,755;10,165,756; 10,172,325; 10,251,371; 10,292,365; 10,342,218; 10,405,520;10,455,810; 10,470,437 and 10,624,319.

Stimulation electrodes 32 will preferably be located on an inner face ofthe collar-mounted location sensor and stimulation unit 1 defined bycoupling 30, adjacent to the dog when the collar is affixed on the dog.Coupling 30 is opposite to an outer face 11 visible in FIGS. 1 and 5.Collar 40 passes over outer face 11, and thereby urges body 10 andcoupling 30 closer to a dog's hair or fur when secured.

Both first and second preferred embodiments of apparatus designed inaccord with the present invention have been illustrated in the variousfigures. The embodiments are distinguished by the hundreds digit, andvarious components within each embodiment designated by the ones andtens digits. However, many of the components are alike or similarbetween embodiments, so numbering of the ones and tens digits have beenmaintained wherever possible, such that identical, like, or similarfunctions may more readily be identified between the embodiments. If nototherwise expressed, those skilled in the art will readily recognize thesimilarities and understand that in many cases like numbered ones andtens digit components may be substituted from one embodiment to anotherin accord with the present teachings, except where such substitutionwould otherwise destroy operation of the embodiment. Consequently, thoseskilled in the art will readily determine the function and operation ofmany of the components illustrated herein without unnecessary additionaldescription.

Second preferred embodiment collar-mounted location sensor andstimulation unit 101 comprises a body 110 having an outer face 111, aset of quick-mount retention clips 112-115 protruding from each of thetwo short ends 116 and 117, and a location sensor 120 and associatedelectronics similar to those found in first preferred embodimentcollar-mounted location sensor and stimulation unit 1. In additionthereto, second preferred embodiment collar-mounted location sensor andstimulation unit 101 has a pair of optional switches that are exemplary,though by no means limiting to the number, type, or placement ofswitches. These switches, including a select switch 122 and a cancelswitch 124, may be provided to augment display 121 to facilitate entryof user selections into second preferred embodiment collar-mountedlocation sensor and stimulation unit 101. By providing these switches122, 124 and display 121 on an inner face 131, they are accessible priorto installing second preferred embodiment collar-mounted location sensorand stimulation unit 101 onto an animal. On inner face 131, switches122, 124 and display 121 are also relatively protected from damage ordisturbance when an animal is wearing second preferred embodimentcollar-mounted location sensor and stimulation unit 101.

As with first preferred embodiment collar-mounted location sensor andstimulation unit 1, and in similar manner, a suitable prior art dogcollar 40 may be used to secure second preferred embodimentcollar-mounted location sensor and stimulation unit 101 to the animal.

As visible in FIG. 6, electrodes 132 a-f, like electrodes 32, areprovided on a substantially flat coupling 130, and thereby define agenerally planar electrode grid designed to make electrical contact withthe hair or fur of an animal. This will be referred to herein as anexposed electrode sheet. The particular material used in the fabricationof electrodes 132 a-f is not critical to the proper operation of thepresent invention, and so electrodes 132 a-f may for exemplary andnon-limiting purpose comprise conductive ink printed or otherwisepatterned upon a substrate; pins inserted into holes within a substratematerial; wires looped or otherwise installed within the substrate; orother suitable materials and configurations that provide adequateelectrical conductivity.

While this electrode sheet defined by flat coupling 130 is in thepreferred embodiments substantially planar, it will be understood fromthe present disclosure that such reference to planar may in somealternative embodiments be associated with a local arrangement. In thesealternative embodiments, rather than the entire sheet being planar, thesheet may be gently curved to follow the rounded exterior geometry of adog's neck while not significantly penetrating the fur, and for thepurposes of the present disclosure will still be understood to be asheet and to be substantially planar. In contrast, the prior arttwo-prong electrodes protrude substantially out of the surround supportstructure and are explicitly configured to penetrate through the dog'shair or fur.

In this second preferred embodiment collar-mounted location sensor andstimulation unit 101, coupling 130 is elevated slightly relative toinner face 131, which helps to ensure good contact between therelatively smaller grid defined by electrodes 132 a-f and the animal'shair or fur, even if unit 101 were to be slightly tilted when engagedwith the animal. Furthermore, the smaller surface area permits lesscollar force to be applied and still obtain adequate pressure to ensuregood fur or hair contact. Nevertheless, the planar geometry of coupling130 still ensures that electrodes 132 a-f remain coupled with the animalhair or fur, and are not pressed through the fur into direct contactwith the animal's skin.

Most preferably, electrodes 132 a-f are provided in a grid or matrixwith most nearly adjacent electrodes each having a differential voltagerelative to each other. For exemplary purposes, if at a first moment intime electrode 132 a is provided with a voltage of first magnitude, thenthe two closest electrodes 132 b, d will be provided with a voltage ofsecond magnitude different from the first. To complete thisrelationship, at this same first moment electrodes 132 c, e will beprovided with the voltage of first magnitude, and electrode 132 f willbe provided with the voltage of second magnitude. The substantiallyplanar coupling 130 having alternating polarity electrodes betterfacilitates fur detection and electrical stimulation, even when secondpreferred embodiment collar-mounted location sensor and stimulation unit101 is not resting evenly on the animal.

In some instances, a user may prefer to forego electrical stimulationentirely. In such instances, and as illustrated in FIGS. 9-11, auser-removable cover 150 is provided that electrically isolates theelectrodes from the animal. As will be understood, FIGS. 6-8 illustratesecond preferred embodiment collar-mounted location sensor andstimulation unit 101 with cover 150 entirely removed, while FIGS. 9-11illustrate cover 150 installed.

Cover 150 includes a cover base 152 from which rises an elevatedelectrode cover 154. Extending in an opposed direction from cover base152 are a pair of “L”-shaped opposed cover securing clips 156, 158 thatresiliently engage with outer face 111.

When a person turns on or initiates either first or second preferredembodiment collar-mounted location sensor and stimulation unit 1 or 101,the collar-mounted location sensor and stimulation unit 1, 101 maylocate satellites and determine current location. In one alternativeembodiment, the collar-mounted location sensor and stimulation unit 1,101 may have a manual setting in order to activate or deactivate inorder to save battery or to prevent stimulation at an undesired time.

However, in accord with the teachings of the present invention, thepreferred embodiment collar-mounted location sensor and stimulation unit1, 101 is provided with a sensor that is adapted to detect when thedevice is properly secured to a dog or other animal. For exemplarypurposes, animal hair or fur presents a different capacitive input thanopen air. There is also a detectable difference between animal hair andhuman skin.

Consequently, in the preferred embodiments, the impedance is detected bythe collar electronics using a low energy signal generated by low energyimpedance detector 126. For the purposes of the present disclosure, thislow energy signal will be understood to be a signal that is very closeto or preferably below the detection threshold of the animal wearing thecollar. As illustrated in FIG. 12, the signal is applied through a firstshared signal line to electrodes 132 a, c, and e, and through a secondsignal line to electrodes 132 b, d, and f. In an alternative embodiment,a separate set of electrodes preferably in close proximity to electrodes132 a-f may be provided that are dedicated to coupling with the lowenergy signal generated by low energy impedance detector 126. In afurther alternative embodiment, charging pins are provided to allowelectrical connection to a charger that recharges the collar battery. Insuch case, these pins are electrically floating when the collar is inuse and therefore separated from the charger, and so such pins may beused to detect fur impedance when not recharging the collar battery.

Capacitance is the preferred and primary method of detection. In someembodiments, particularly where a dedicated set of electrodes are usedfor sensing capacitance, these electrodes may be provided with anelectrical insulator such as plastic or other similar material. Theelectrical insulator material, which might for exemplary andnon-limiting purposes comprise a very thin coating, film, or the like,will preferably inconsequentially change the capacitance, whilepreventing electrical resistivity from being detected. While capacitanceis the preferred and primary method of detection, those familiar withthe electrical arts will recognize that capacitance is one component ofimpedance, which also includes resistance and inductance. Consequently,in alternative embodiments alternative forms of impedance mayalternatively or additionally be measured. Nevertheless, it is verydesirable that such measurements provide sufficient specificity todistinguish animal hair or fur from alternative surfaces and from openair.

When an appropriate impedance is detected, this detection is used todetermine that the preferred embodiment collar-mounted location sensorand stimulation unit 1, 101 is in place on an animal Most preferably, inresponse to the detection of unique impedance, electrical switch 128 maybe switched, and stimulation generator 127 may thereby be enabled. Inaddition to enabling stimulation generator 127, detection by low energyimpedance detector 126 may also be used to enable other componentswithin location sensor 120 and associated electronics. While a simpleelectrical switch 128 is illustrated, it will be appreciated that thereare many well-known methods of enablement that can be used in variousembodiments, including but not limited to various solid-state andopto-electronic switches. Further, while switch 128 is illustrated aseither connecting low energy impedance detector 126 or stimulationgenerator 127 to electrodes 132 a-f, depending upon circuitry selectedin some alternative embodiments both apparatus are simultaneouslyconnected, or, as noted herein above, they each may be connected todifferent electrode sets.

While even further alternative embodiments may employ other detectionmethods, such as a pressure sensor, optical detector or other suitableapparatus to determine when the collar-mounted location sensor andstimulation unit 1 is coupled to a pet, the unique capacitance presentedby animal hair or fur allows the present invention to not only ensurethe apparatus is not activated except when properly installed in contactwith the animal hair or fur, but also to ensure that the preferredembodiment collar-mounted location sensor and stimulation unit 1, 101will not unintentionally apply excessive energy or stimulation to ananimal. This could, for exemplary and non-limiting purpose, occur in theprior art when a particular dog breed has greater conductivity than isnormal, or might also for exemplary purposes occur when the collar is inplace and the animal is doused with intrinsically electricallyconductive liquids such as ocean or salt water, or other liquids thatbecome electrically conductive when applied to the animal's hair or fur.Consequently, this initial impedance value will in some embodiments beused to calibrate or adjust one or more of a voltage, current,oscillation frequency, extent of modulation such as pulse-widthmodulation, or other suitable characteristics of an electrical signalapplied to stimulation electrodes 32, 132 a-f. In these embodiments,many factors including dog breed, seasonal fur thickness, and even dailyvariations in temperature, humidity, pet cleanliness and the like willbe compensated for. In some embodiments, when different species aredetectable, the stimulation output may further be adjusted accordingly.For exemplary and non-limiting purpose, human skin which is generallymuch more electrically conductive than dry dog fur may be identified,and in such instance the peak voltage may be much lower than dry doghair or fur. Further, the behavior of the preferred embodimentcollar-mounted location sensor and stimulation unit 1, 101 may also beadapted to correspond to the detected species, and as such may providecustom sequences or types of stimulation output that are more useful tothe particular detected species.

As taught in commonly owned U.S. Pat. Nos. 9,795,118; 9,961,884;10,064,390; and 10,080,346; the teachings which were incorporated hereinabove by reference, stimulation will most preferably first compriseauditory or vibratory stimulation, or some combination thereof.Nevertheless, when electrical correction is desired or required, such aswhen a pet leaves a designated area, preferred embodiment collar-mountedlocation sensor and stimulation units 1, 101 will preferably trigger anappropriate and non-adverse electrical stimulation. Most preferably,this electrical stimulation will be provided through couplings 30, 130using electrodes 32 such as illustrated in commonly owned U.S. Pat. No.7,677,204, the teachings and contents which are incorporated herein byreference, or the similar electrode grid 132 a-f, which is considered tobe a most humane method of application. This technology is designed toavoid tissue damage by providing non-necrotic stimulation. In addition,the technology illustrated in U.S. Pat. No. 7,677,204 workssynergistically with the preferred quick-mount retention clips 12-15,since less force driving collar 40 into the dog is required for thisstimulation technology to be effective.

To be most effective, in a most preferred embodiment the low energyimpedance detector 126 will either remain connected, or will beintermittently switched in, to allow for regular testing to ensure thatthe correct impedance is present in advance of providing stimulation toan animal Consequently, if the dog is dry and outdoors, the fur willhave an initial impedance value that the collar will detect. If there israin, or if the dog ventures into water, then the fur or hair impedancemay change significantly from that initially detected impedance. As thedog dries back out, the impedance may change again, perhaps driftingback toward the initial impedance value.

Based upon the detected impedance, a control system may then adjust oneor more of a voltage, current, and even oscillation frequency of anelectrical signal applied to stimulation electrodes 32, 132 a-f. Manyanimals, including dogs, have sensory receptors such as mechanoreceptornerves at the base of at least some of the hairs. These or other nervesin or just beneath the skin may be stimulated by the present invention.The present invention ensures consistent and either real-time orperiodic calibration of output to provide a desired level of stimulationto the nervous system while protecting the animal from inhumanetreatment or tissue damage.

Most preferably, impedance ranges acceptable to trigger electricalstimulation are defined that correspond in some embodiments to as littleas one type or even breed of animal. In other embodiments, theseacceptable impedance ranges will correspond to a wider variety ofbreeds, or in yet other embodiments a plurality of animal species.

While the foregoing details what are felt to be the preferred andadditional alternative embodiments of the invention, no materiallimitations to the scope of the claimed invention are intended. Thevariants that would be possible from a reading of the present disclosureare too many in number for individual listings herein, though they areunderstood to be included in the present invention. For exemplarypurposes only, and not solely limiting the invention thereto, the words“dog” and “animal” have been used interchangeably herein above. This isin recognition that the present invention has been designed specificallyfor use with dogs, but with the understanding that other animals mayalso be trained using apparatus in accord with the teachings of thepresent invention. Consequently, the present invention is understood tobe applicable to other animals, and the differences that will berequired of an alternative embodiment designed for animals other thandogs will be recognized based upon principles that are known in the artof animal training. Further, features and design alternatives that wouldbe obvious to one of ordinary skill in the art are considered to beincorporated herein. The scope of the invention is set forth andparticularly described in the claims herein below.

We claim:
 1. A collar-mounted animal sensory stimulation unit with furimpedance detection, comprising: a body supporting an exposed electrodesheet having a plurality of exposed and generally coplanar stimulationelectrodes; an electrical stimulation generator having an electricalstimulation output electrically coupled to at least a first one of saidplurality of exposed and generally coplanar stimulation electrodes; atleast two impedance detector electrodes; and an impedance detectorelectrically coupled to said at least two impedance detector electrodesand configured to detect a magnitude of impedance between said at leasttwo impedance detector electrodes; said electrical stimulation generatorconfigured to alter said electrical stimulation output responsive tosaid detected magnitude of impedance.
 2. The collar-mounted animalsensory stimulation unit with fur impedance detection of claim 1,further comprising a location sensor configured to determine a locationof said body, said electrical stimulation generator configured to altersaid electrical stimulation output responsive to said determined bodylocation.
 3. The collar-mounted animal sensory stimulation unit with furimpedance detection of claim 2, wherein impedance detector is configuredto repetitively detect said magnitude of impedance between said at leasttwo impedance detector electrodes, and said electrical stimulationgenerator is configured to repetitively alter said electricalstimulation output responsive to said repetitively detected magnitude ofimpedance.
 4. The collar-mounted animal sensory stimulation unit withfur impedance detection of claim 1, wherein said impedance detectorfurther comprises a detector generating a low-energy signal below a dogstimulation threshold.
 5. The collar-mounted animal sensory stimulationunit with fur impedance detection of claim 1, wherein said impedancedetector comprises a capacitance detector.
 6. The collar-mounted animalsensory stimulation unit with fur impedance detection of claim 1,further comprising at least one sensory stimulator configured to provideat least one of auditory, kinesthetic, and visual stimulation to saiddog responsive to an output of said location sensor.
 7. A method ofproviding electrical animal sensory stimulation through animal furresponsive to impedance detection, comprising the steps of: electricallycoupling stimulation electrodes to said animal fur; measuring impedancebetween stimulation electrodes; determining said measured impedancerepresents that said stimulation electrodes are coupled to said animalfur; applying electrical stimulation through said stimulation electrodesto said animal fur responsive to said determining step, andextinguishing said electrical stimulation through said stimulationelectrodes to said animal fur absent said determining step.
 8. Themethod of providing electrical animal sensory stimulation through animalfur responsive to impedance detection of claim 7, wherein said impedancedetector comprises a capacitance detector.
 9. The method of providingelectrical animal sensory stimulation through animal fur responsive toimpedance detection of claim 7, wherein said stimulation electrodescomprise a generally planar sheet having a plurality of stimulationelectrodes pressed against said animal fur.
 10. The method of providingelectrical animal sensory stimulation through animal fur responsive toimpedance detection of claim 7, wherein said measuring step furthercomprises the step of transmitting an electrical measuring signal havinga low-energy signal below a dog stimulation threshold through saidstimulation electrodes.
 11. The method of providing electrical animalsensory stimulation through animal fur responsive to impedance detectionof claim 7, further comprising the step of covering said stimulationelectrodes with an electrode cover and thereby isolating saidstimulation electrodes from said animal fur.
 12. The method of providingelectrical animal sensory stimulation through animal fur responsive toimpedance detection of claim 7, further comprising the step of repeatingsaid steps of measuring, determining, applying, and extinguishing. 13.The method of providing electrical animal sensory stimulation throughanimal fur responsive to impedance detection of claim 7, furthercomprising the steps of: establishing a geo-position-based location ofsaid stimulation electrodes; selectively providing auditory,kinesthetic, and visual stimulation to said dog responsive to saidgeo-position-based location establishing step.
 14. The method ofproviding electrical animal sensory stimulation through animal furresponsive to impedance detection of claim 7, further comprising thestep of repeating said steps of establishing and selectively providing.15. A method of providing electrical animal sensory stimulation throughanimal fur responsive to impedance detection, comprising the steps of:electrically coupling stimulation electrodes to said animal fur;detecting a magnitude of impedance between said stimulation electrodes;varying an output of an electrical stimulation generator responsive tosaid detected magnitude of impedance; and applying said electricalanimal sensory stimulation through said electrical stimulationelectrodes to said animal fur subsequent to said output varying step.16. The method of providing electrical animal sensory stimulationthrough animal fur responsive to impedance detection of claim 15,wherein said impedance detector comprises a capacitance detector. 17.The method of providing electrical animal sensory stimulation throughanimal fur responsive to impedance detection of claim 15, wherein saidstimulation electrodes comprise a generally planar sheet having aplurality of stimulation electrodes pressed against said animal fur. 18.The method of providing electrical animal sensory stimulation throughanimal fur responsive to impedance detection of claim 17, furthercomprising the step of repeating said steps of establishing andselectively providing.
 19. The method of providing electrical animalsensory stimulation through animal fur responsive to impedance detectionof claim 15, wherein said detecting step further comprises the step oftransmitting an electrical measuring signal having a low-energy signalbelow a dog stimulation threshold through said stimulation electrodes.20. The method of providing electrical animal sensory stimulationthrough animal fur responsive to impedance detection of claim 15,further comprising the steps of: establishing a geo-position-basedlocation of said stimulation electrodes; selectively providing auditory,kinesthetic, and visual stimulation to said dog responsive to saidgeo-position-based location establishing step.